{"id":"https://openalex.org/W4387088911","doi":"https://doi.org/10.1109/ecmr59166.2023.10256387","title":"Social Robot Navigation Through Constrained Optimization: A Comparative Study of Uncertainty-Based Objectives and Constraints","display_name":"Social Robot Navigation Through Constrained Optimization: A Comparative Study of Uncertainty-Based Objectives and Constraints","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387088911","doi":"https://doi.org/10.1109/ecmr59166.2023.10256387"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256387","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ecmr59166.2023.10256387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048398929","display_name":"Timur Akhtyamov","orcid":"https://orcid.org/0000-0003-0877-3318"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Timur Akhtyamov","raw_affiliation_strings":["Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008779386","display_name":"Aleksandr Kashirin","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksandr Kashirin","raw_affiliation_strings":["Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027465522","display_name":"Aleksey Postnikov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Postnikov","raw_affiliation_strings":["Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding","Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding; The author is with Sber Robotics group"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding; The author is with Sber Robotics group","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030445216","display_name":"Gonzalo Ferrer","orcid":"https://orcid.org/0000-0003-2704-7186"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Gonzalo Ferrer","raw_affiliation_strings":["Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Tech-nology (Skoltech), Center for AI Technology. Corresponding","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048398929"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":0.345,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57494657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6736272573471069},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5933195948600769},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.585699737071991},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.5392964482307434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5350084900856018},{"id":"https://openalex.org/keywords/outcome","display_name":"Outcome (game theory)","score":0.5280702114105225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.515114963054657},{"id":"https://openalex.org/keywords/social-force-model","display_name":"Social force model","score":0.510158121585846},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4635680317878723},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4464784562587738},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32682347297668457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16024741530418396},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.15000751614570618},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11222773790359497}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6736272573471069},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5933195948600769},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.585699737071991},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.5392964482307434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5350084900856018},{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.5280702114105225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.515114963054657},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.510158121585846},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4635680317878723},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4464784562587738},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32682347297668457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16024741530418396},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.15000751614570618},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11222773790359497},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256387","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ecmr59166.2023.10256387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W2032681112","https://openalex.org/W2045134164","https://openalex.org/W2059993653","https://openalex.org/W2089584121","https://openalex.org/W2144695009","https://openalex.org/W2150765347","https://openalex.org/W2167052694","https://openalex.org/W2529897673","https://openalex.org/W2563700852","https://openalex.org/W2572202106","https://openalex.org/W2586067474","https://openalex.org/W2604216058","https://openalex.org/W2604372349","https://openalex.org/W2729776805","https://openalex.org/W2753598779","https://openalex.org/W2765302304","https://openalex.org/W2793777304","https://openalex.org/W2842089854","https://openalex.org/W2890001928","https://openalex.org/W2897555545","https://openalex.org/W2951520685","https://openalex.org/W3003235888","https://openalex.org/W3021487874","https://openalex.org/W3090345358","https://openalex.org/W3124260346","https://openalex.org/W3131623996","https://openalex.org/W3142049818","https://openalex.org/W3148135076","https://openalex.org/W3157509697","https://openalex.org/W3177161388","https://openalex.org/W3196864007","https://openalex.org/W3197930629","https://openalex.org/W3205117486","https://openalex.org/W3206270475","https://openalex.org/W4214588671","https://openalex.org/W4221154737","https://openalex.org/W4287278188","https://openalex.org/W4287777025","https://openalex.org/W4298876402","https://openalex.org/W4362014203","https://openalex.org/W4383109004","https://openalex.org/W4389665364","https://openalex.org/W4389666587","https://openalex.org/W4389667294","https://openalex.org/W6662040206","https://openalex.org/W6683300800","https://openalex.org/W6685029077","https://openalex.org/W6733118196","https://openalex.org/W6777708525","https://openalex.org/W6791338749","https://openalex.org/W6810092432","https://openalex.org/W6843267031","https://openalex.org/W6845308347","https://openalex.org/W6850264596"],"related_works":["https://openalex.org/W3141058977","https://openalex.org/W4385986026","https://openalex.org/W2011795602","https://openalex.org/W3147306508","https://openalex.org/W3199606900","https://openalex.org/W4388037223","https://openalex.org/W2367855113","https://openalex.org/W3120869690","https://openalex.org/W3145661592","https://openalex.org/W2340862189"],"abstract_inverted_index":{"This":[0],"work":[1],"is":[2,128],"dedicated":[3],"to":[4,52,62,84,139],"the":[5,12,30,44,53,56,63,67,89,101,152],"study":[6,127],"of":[7,11,46,55,113,115,125],"how":[8,138],"uncertainty":[9,45],"estimation":[10],"human":[13],"motion":[14],"prediction":[15],"can":[16,59],"be":[17,60],"embedded":[18],"into":[19],"constrained":[20],"optimization":[21],"techniques,":[22],"such":[23],"as":[24],"Model":[25],"Predictive":[26],"Control":[27],"(MPC)":[28],"for":[29,94,131,143],"social":[31,95,106,144],"robot":[32,145],"navigation.":[33],"We":[34],"propose":[35],"several":[36,105],"cost":[37],"objectives":[38],"and":[39,50,65,137,149],"constraint":[40],"functions":[41],"obtained":[42],"from":[43],"predicting":[47],"pedestrian":[48],"positions":[49],"related":[51],"probability":[54],"collision":[57],"that":[58],"applied":[61],"MPC,":[64],"all":[66],"different":[68,116],"variants":[69],"are":[70,88,151],"compared":[71],"in":[72,109,118,147],"challenging":[73],"scenes":[74],"with":[75,104],"multiple":[76],"agents.":[77],"The":[78,122],"main":[79,123],"question":[80],"this":[81],"paper":[82],"tries":[83],"answer":[85],"is:":[86],"what":[87,150],"most":[90,153],"important":[91],"uncertainty-based":[92],"criteria":[93],"MPC?":[96],"For":[97],"that,":[98],"we":[99],"eval-uate":[100],"proposed":[102],"approaches":[103,142],"navigation":[107,146],"metrics":[108],"an":[110],"extensive":[111],"set":[112],"scenarios":[114],"complexity":[117],"reproducible":[119],"synthetic":[120],"environments.":[121],"outcome":[124],"our":[126],"a":[129,132],"foundation":[130],"practical":[133],"guide":[134],"on":[135],"when":[136],"use":[140],"uncertainty-aware":[141],"practice":[148],"effective":[154],"criteria.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
